The present invention relates to a trap avoiding method of the robot cleaner, the robot cleaner is detected whenever the obstacles that was stored the location of that point, when more than a predetermined time continues to calculate the moving obstacle occurs and the radius of the robot cleaner by the obstacle position, the moving radius of the wing arm recognizes a trap when the month is less than a predetermined value By performing, and the robot cleaner is one to avoid the traps quickly. To this end, the user by the present invention, when the cleaning mode is selected, the steps of the cleaning while traveling the predetermined region; Repeatedly each time the obstacle detection and collision of the robot cleaner, the method comprising the steps of: storing the impact position of the robot cleaner and the obstacle; If the obstacle is detected repeatedly over a certain period of time and calculating the movement radius of the robot cleaner by using the stored position of the collision obstacle and the robot cleaner; Compared to the reference value and the calculated radius of the movement, the result of the comparison move if the radius is less than the reference value, the process of driving the robot cleaner is made with the Following Month.
展开▼
